A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept
作者： Maarten Weckx , Glenn Mathijssen , Idris Si Mhand Benali , Raphaël Furnemont , Ronald Van Ham
DOI: 10.3390/ACT3020020
关键词: Cascade 、 Engineering 、 Mechanical engineering 、 Robot 、 Stiffness 、 Mechanical equilibrium 、 Degrees of freedom (statistics) 、 Control theory 、 Work (physics) 、 Robotic arm 、 Actuator
摘要: The current state-of-the-art of variable stiffness actuators consists mostly different concepts for single-degree freedom joints. However, in bio-inspired robotic applications, multiple degrees are often desired. Currently, this is usually achieved by cascading actuators. innovation presented work a two-degree actuator using the mechanically adjustable and controllable equilibrium position (MACCEPA) concept. not cascade two actuators, but centralizes one single joint. Equilibrium are, furthermore, independently both freedom. design experimental validation discussed work. independence adjusting experimentally validated. results show that measured characteristics sufficiently match theoretically calculated ones. Future includes implementing an application, like bipedal robot or arm.
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